         is-blocking (and (nil? done-chan) (nil? callback))
         joint-changes (filter-actions :joints actions)
         stiffness-changes (filter-actions :stiffness actions)
+        speech-changes (filter-actions :speech actions)
         go-result-chan
         (go
          ;; wait to be triggered

             :refer [<! >! <!! timeout chan alts! alts!! put! go]]
            [naojure.util :refer :all]
            [naojure.motion-calc :refer :all]
            [clojure.pprint :refer [pprint]]))

(def proxy-names {

   (.get)))

; text to speech
(defmulti say (fn [tor & args]
                (cond
                 (robot? tor) :default
                 :else :donao)))

(defmethod say :default
  [robot text & args]
  (call-service robot :tts "say" [text]))

(defmethod say :donao
  [text & args]
  {:speech text})

(defn get-language
  "Get the currently defined text-to-speech language"
